CN114630733A

CN114630733A - Device for holding a cable of a robot and related robot

Info

Publication number: CN114630733A
Application number: CN201980101484.XA
Authority: CN
Inventors: 沙佳杰; 曹晓东; 哈云; 陈逸农
Original assignee: ABB Schweiz AG
Current assignee: ABB Schweiz AG
Priority date: 2019-10-29
Filing date: 2019-10-29
Publication date: 2022-06-14
Also published as: EP4051460A1; WO2021081746A1; US20220388184A1

Abstract

The disclosed embodiment provides a device (100) for holding a cable (201) of a robot and the robot. The device (100) comprises a main body (101), the main body (101) extending along an axis and comprising a circumferential wall (1011) to separate a cable (201) arranged in the main body (101) from a first part (202) of the robot; and a slit (1012) formed on the circumferential wall (1011) spanning the entire length of the circumferential wall (1011) along the axis, the slit (1012) being adapted for radial passage of the cable (201) to allow the cable (201) to be disposed in the body (101). Since the slit (1012) is formed on the circumferential wall (1011) across the entire length of the circumferential wall (1011) along the axis, the cable (201) can be easily arranged radially in the main body (101) through the slit (1012). In this way, the cable (201) can be arranged in the device (100) without having to remove the large connector (204), thereby improving assembly efficiency.

Description

Device for holding a cable of a robot and related robot

Technical Field

The disclosed embodiments relate generally to a robot, and more particularly, to an apparatus for holding a cable for a robot and a related robot.

Background

Robots, including industrial robots, are widely used for manufacturing. Industrial robots are automatically programmable and are capable of movement in three or more axes. Robots typically have one or more drives or drive units to drive end effectors and/or arm links to perform certain actions. Examples of drive units include, but are not limited to, motors, hydraulic pumps, pneumatic pumps, and the like. The end effector and/or arm links, drive units and control units of the robot are typically connected by cables such as electrical cables, air tubes, oil tubes, etc.

The cables are typically arranged in arm links of the robot, and the arm links typically rotate about joints. Therefore, it is desirable to route the cables in such a manner that the cables do not affect the rotation range of the robot arm link. Currently, the cables are usually held in the arm links by means of cylindrical shaped devices. In this way, the cable, in particular its part adjacent to or surrounded by the high speed component, can be isolated from the high speed component to avoid possible wear.

In order to connect the various parts of the robot by cables, a connector is usually arranged on one or both ends of each cable. However, when cables are arranged in the device, the connectors (each typically sized larger than the diameter of the device) cannot easily pass through.

Disclosure of Invention

The embodiment of the disclosure provides a device for keeping a robot cable and a related robot.

In a first aspect, an apparatus for holding at least one cable of a robot is provided. The device comprises a body extending in an axial direction and comprising a circumferential wall to separate at least one cable arranged in the body from a first part of the robot; and a slit formed on the circumferential wall in the axial direction, the slit being adapted to allow at least one cable to pass therethrough such that the at least one cable is arranged in the main body.

Since the slit is formed along the axis over the entire length of the circumferential wall, the cable can be easily arranged in the body radially through the slit. In this way, cables can be arranged in the device without having to remove large connectors, thereby improving assembly efficiency. Furthermore, since the connector does not need to be removed, the connection performance is also improved.

In some embodiments, the slit has a helical shape about the body axis. The spiral shape of the slit can prevent accidental escape, thereby improving the reliability of the robot.

In some embodiments, the slit has a linear or curvilinear shape extending in an axial direction on one side of the axis. In this way, the device can be manufactured in a cost-effective manner.

In some embodiments, the width of the slit is less than the diameter of the thinnest wire of the at least one wire, and the circumferential wall is deformable to allow the slit to expand in the width direction. As a result, the device can be easily manufactured while preventing accidental cable pull-outs, thereby improving the reliability of the robot in a cost-effective manner.

In some embodiments, the device further comprises a further slit arranged diametrically opposite the slit to divide the circumferential wall into two half-shells, and the two half-shells are coupled to each other at the slit and the further slit to form the body. With this arrangement, the cable can be more easily arranged in the main body.

In some embodiments, the apparatus further comprises a flange fixedly disposed at an end of the body and adapted to be fixed to a second portion of the robot that rotates relative to the first portion. As a result, the device can be easily fixed to the second part of the robot, thereby improving assembly efficiency.

In some embodiments, the flange includes a flange slit that extends across an entire radius of the flange at a location aligned with the slit. In this way, the flange does not interfere with the arrangement of the cable, while improving the assembly efficiency.

In some embodiments, the body and the flange are integrally formed. This arrangement may improve the strength of the device.

In some embodiments, the device further comprises a radiused transition at a corner between the flange and the circumferential wall. In this way, the cable arranged in the body can be protected from sharp corners, thereby improving reliability.

In a second aspect, a method of manufacturing an apparatus for holding at least one cable of a robot is provided. The method comprises providing a body extending in an axial direction and comprising a circumferential wall to isolate at least one cable arranged in the body from a first part of the robot; and forming a slit on the circumferential wall in the axial direction, the slit being adapted to allow at least one cable to pass through such that the at least one cable is arranged in the main body.

In a third aspect, a robot is provided. The robot comprises an apparatus as described above in relation to the first aspect.

It should be understood that this summary is not intended to identify key or essential features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The foregoing and other objects, features and advantages of the disclosure will be apparent from the following more particular descriptions of exemplary embodiments of the disclosure as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the disclosure.

Fig. 1A to 1C show a device used in the prior art;

fig. 2 shows a side view of an apparatus for holding a robot cable arranged in a robot part according to an embodiment of the disclosure;

FIG. 3 illustrates a perspective view of an apparatus for holding a cable according to an embodiment of the present disclosure;

fig. 4 shows a perspective view of a device for holding a cable with one cable arranged in accordance with an embodiment of the present disclosure;

FIG. 5 shows a perspective view of an apparatus for holding a cable according to another embodiment of the present disclosure;

FIG. 6 shows a perspective view of an apparatus for holding a cable according to yet another embodiment of the present disclosure; and is

Fig. 7 shows a flowchart of a method of manufacturing a device for holding a cable of a robot according to an embodiment of the present disclosure.

Throughout the drawings, the same or similar reference numerals are used to designate the same or similar elements.

Detailed Description

The present disclosure will now be discussed in connection with several example embodiments. It should be understood that these examples are discussed only to enable those skilled in the art to better understand and to further enable the present disclosure, and do not imply any limitation on the scope of the subject matter.

As used herein, the term "include" and its variants are to be understood as open-ended terms, meaning "including, but not limited to. The term "based on" is to be understood as "based at least in part on". The terms "one embodiment" and "an embodiment" should be understood as "at least one embodiment". The term "another embodiment" should be understood as "at least one other embodiment". The terms "first," "second," and the like may refer to different or the same object. Other explicit and implicit definitions may be included below. The definitions of the terms are consistent throughout the specification unless the context clearly dictates otherwise.

The cable 201 is typically arranged in an arm link of a robot, being a critical working part in a robot, in particular an industrial robot. For example, cables including electrical cables, air tubes, oil lines, etc. are commonly used to transmit data between the end effector, drive unit, and control unit, and to convey high pressure gas, liquid, for example, between the drive unit and a hydraulic or pneumatic source. To connect the above components, a connector is generally disposed on one or both ends of each cable.

The cable 201 is typically routed in the arm link by passing through the moving parts of the robot. Because the arm links of robots typically rotate about joints, it is a challenge in robot design to route cables to prevent affecting the rotational range of the robot arm links and to prevent premature cable failure.

Fig. 1A to 1C show an example for explaining how cables in the prior art are routed in the moving

parts

202, 203 of the robot. The two parts shown in fig. 1A and 1B (referred to as a first part 202 and a second part 203 for ease of discussion hereinafter) are common structures that are typically arranged in a robot joint. The first portion 202 is typically a high speed rotating portion coupled to a drive unit such as a motor. The second portion 203 is typically a low speed rotating portion coupled to, for example, an arm link or end effector.

A gearbox is typically provided, for example arranged between the first part 202 and the second part 203, to allow transmission of motion. As shown, for example, a cable 201 needs to pass through a first portion 202 and a second portion 203, particularly the first portion 202 which is a high speed portion. As a result, if the cable is not isolated from the first and

second portions

202 and 203, there is a risk that the cable contacts and is worn by the first component.

Currently, devices for holding the cable 201 are commonly used to isolate the cable 201 from rotating parts. As shown in fig. 1C, the device 100' is cylindrical and can accommodate a cable 201 along its axis. To reduce the footprint to facilitate miniaturization of the robot, the device 100' is typically sized to allow a desired number of cables to be placed therein.

A problem that arises is that, since each connector 204 is typically sized larger than the diameter of the device 100', the connectors 204 do not easily pass when the cable 201 is disposed in the device 100'. In addition, even though some of the connectors 204 may pass through the device 100' when the device 100' is empty or has few cables, the space inside the device 100' becomes smaller as the number of cables inserted increases. This makes it increasingly difficult to arrange the cable 201 into the device 100'.

One of the conventional solutions is to remove the connector 204 from the cable before the cable 201 is deployed into the device 100'. After the cable 201 is disposed in the device 100', the connector 204 is reconnected to the cable 201.

It is well known that for reliability of connection, it is preferable that the connector 204 be initially connected to a cable. Removal or reconnection will result in reduced reliability. Therefore, the conventional apparatus 100' for holding the cable 201 may cause problems such as a reduction in reliability and a cumbersome assembly process.

To address or at least partially address the above and other potential problems, embodiments of the present disclosure provide an apparatus 100 for holding a cable 201 of a robot. Fig. 2 shows a side view of the device 100 and fig. 3 shows a perspective view of the device.

As shown, the device 100 is generally cylindrical in shape extending along an axis X (i.e., in an axial direction). The body 101 of the device 100 has a circular cross-section so that more cables can be accommodated with the same cross-sectional area than a cylinder having a cross-section of other shape, such as square. Of course, in some alternative embodiments, the body 101 may also have a square, rectangular, or oval cross-section, etc.

The main body 101 comprises a circumferential wall 1011 to isolate at least one cable 201 arranged in the main body 101 from the first part 202 of the robot. In this way, the circumferential wall 100 may protect the at least one cable 201 from contacting the first portion 202 and from being worn. Hereinafter, the concept of the present disclosure will be described by taking a plurality of cables arranged in the main body 101 as an example.

Unlike the conventional device 100' shown in fig. 1A-1C, the device 100 according to an embodiment of the present disclosure includes a slit 1012 formed on the circumferential wall 101, as shown in fig. 2 and 3. The slit 1012 extends in the axial direction to allow the cable 201 to pass through. That is, the slit 1012 extends from one end to the other end of the circumferential wall 1011 in the axial direction.

In this way, cables 201 with large connectors 204 can be arranged in the body 101 by inserting a portion of each cable 201 radially through the slit 1012. That is, since the slit 1012 is formed along the axis X over the entire length of the circumferential wall 1011, the cable 201 can be easily arranged in the main body 101 by passing radially through the slit 1012. In this way, the cable 201 can be arranged in the device 100 without having to remove the large connector 204, thereby improving assembly efficiency. Furthermore, since the connector 204 does not need to be removed, the connection performance is also improved.

Further, in some embodiments, the slits 1012 may be formed by removing some material on the circumferential wall 1011. As such, the device 100 according to embodiments of the present disclosure is lighter than the conventional device 100'. In some alternative embodiments, the slits 1012 may also be formed by wrapping a metal strip. Thus, the body 101 may be formed with a slit having a spiral shape by winding a metal strip around a shaft having a diameter equal to the inner diameter of the body 101 to be formed, as shown in fig. 3.

The spiral shape of the slit 1012 about the axis X can effectively prevent the cable 201, which has been arranged in the main body 101, from being accidentally pulled out, thereby improving the reliability of cable wiring and, in turn, the reliability of the robot.

Specifically, as shown in fig. 4, when the cable 201 is arranged in the main body 101, it is only necessary to twist the cable 201 into a spiral shape aligned with the slit 1012. Then, the cable 201 is pushed radially towards the axis X until the helical portion of the cable 201 is mostly arranged in the body 101. Thereafter, the spiral portion of the cable 201 is straightened and is thereby reliably placed in the main body 101.

It can be seen that the cable 201 can be arranged in the body 101 without the need to remove and reconnect the connector 204, by means of the slot 1012 formed on the circumferential wall 1011. Therefore, the assembling efficiency and the reliability of the connection can be improved.

The pitch of the spiral shape of the slit 1012 can be appropriately selected as necessary. For example, as shown in fig. 3, the pitch of the spiral shape of the slit 1012 may be half of the entire length of the body 101, which may effectively prevent the cable 201 from being unintentionally pulled out while effectively reducing the cost. Of course, the pitch could also be other values, such as 1/3, 1.5, or 2 times the overall length of the body 101.

It should be understood that the above-described embodiment in which the slits 1012 have a spiral shape is for illustration only, and does not imply any limitation on the scope of the present disclosure. The slit 1012 may be any other suitable shape as long as it can allow each cable to pass radially therethrough. For example, in some embodiments, as shown in fig. 2, 5, and 6, the slit 1012 may also be a straight line extending along the axis X.

For example, as shown in fig. 5, the slit 1012 may be a straight line formed on the circumferential wall 1011. To prevent the cables 201 already arranged in the body 101 from accidentally coming out, the width of the slit 1012 may be smaller than the diameter of the thinnest cable 201 of the cables. Further, the circumferential wall 1011 may be deformable.

In this way, when arranging the cables 201 in the body 201, the circumferential wall may be slightly deformed to allow arranging each cable 201 in the body 101. Due to the small width of the slit 1012, the cable 201 arranged in the body 101 does not accidentally come out and contact the first part 202, thereby improving the reliability of the robot in a cost-effective manner.

Other configurations to prevent cable pull-out are possible in addition to or instead of the width of the slot 1012. For example, in some alternative embodiments, there are some deformable protrusions, such as teeth, disposed along the slits 1012. The deformable protrusion does not obstruct the insertion of the cable 201, while being able to prevent the cable 201 arranged in the main body 101 from being accidentally pulled out.

It should be understood that the above-described embodiment in which the slits 1012 are rectilinear in shape is for illustration only, and does not imply any limitation on the scope of the present disclosure. Other shapes or configurations are also possible. For example, in some alternative embodiments, the slit 1012 may also be curved on one side of the axis X extending in the axial direction.

In some alternative embodiments, as shown in fig. 6, in addition to the slit 1012 described above, the device 100 further comprises another slit 1014, the other slit 1014 being disposed opposite the slit 1012 with respect to the axis X. Two

slits

1012, 1014 may divide the circumferential wall 1011 into two half-shells. The two half-shells may be secured at the two

slits

1012, 1014 in a suitable manner to form the body 101.

As a result, the cable 201 can be more easily arranged in the main body 101. When assembling the two half-shells into the body 101, it is only necessary to arrange all the bundled cables between the two half-shells at once. The two half-shells may be coupled to each other by, for example, a snap connection, a magnet connection, a screw connection, etc.

For example, in some embodiments, there are several protrusions along the slit walls of one half-shell, and several corresponding recesses formed on the corresponding slit walls of the other half-shell for receiving and locking these. In this way, by pushing the projection into the recess, the two half-shells can be coupled to each other, further improving the assembly efficiency.

To facilitate mounting of the device 100 to a robot, in some embodiments, the device may further include a flange 1015, the flange 1015 being fixedly disposed at an end of the body 101, as shown in fig. 3-6. The device 100 can be easily secured, for example, to the second portion 203 using the flange 1015.

In some embodiments, there are flange slots 1016, the flange slots 1016 being formed on the flange 1015 and extending across the entire radius of the flange 1015 at locations aligned with the slots 1012, as shown in fig. 3-6. With the flange 1015, the flange slit 1016 allows the cable 201 to be disposed in the body 101.

In some embodiments, as shown in fig. 3, the flange slit 1016 may be scalloped to facilitate insertion of the cable 201 into the body 101. In some alternative embodiments, the ledge slit 1016 may also be in the shape of a strip, as shown in fig. 5, allowing for easier manufacturing of the device 100.

To improve the strength of the device, the flange 1015 and the body 101 may be integrally formed in some embodiments. The integrally formed device 100 may be manufactured in any suitable manner, such as by stamping, molding, and the like. It should be understood that the above-described embodiments in which the apparatus 100 is integrally formed are for illustration only and do not imply any limitations on the scope of the disclosure. In some alternative embodiments, the flange 1015 may also be assembled to the body 101 after separate fabrication.

Further, the device 100 may be formed from any suitable material, such as steel, plastic, or a composite material. A device 100 made of plastic or composite material may further reduce the weight of the robot.

In some embodiments, there is a radiused transition formed at the corner between the flange 1015 and the circumferential wall 1011, as shown in fig. 5. The transition 1017 allows to protect the cable 201 arranged in the body 101 from sharp corners, thereby improving reliability.

Embodiments of the present disclosure also provide a robot including the apparatus as described above. With the apparatus 100 for holding the cable 201, the assembly efficiency and reliability of the robot can be improved.

The disclosed embodiment also provides a manufacturing method of the device 100. Fig. 7 shows a flow chart 700 of a method of manufacturing the device 100. As shown, at block 710, a body 101 is provided that extends along an axis. The main body 101 comprises a circumferential wall 1011 to isolate the cable 201 arranged in the main body 101 from the first part 202 of the robot.

At block 720, a slit 1012 is formed in the circumferential wall 1011 along an axis across the entire length of the circumferential wall 1011. The cable 201 may be arranged in the body 101 by passing radially through the slit 1012. The slits 1012 may be formed by removing material of the body 101 or winding a strip.

It is to be understood that the above detailed embodiments of the disclosure are merely illustrative of or explaining the principles of the disclosure and are not intended to limit the disclosure. Therefore, any modification, equivalent replacement, and improvement, etc. should be included within the protection scope of the present disclosure without departing from the spirit and scope of the present disclosure. Also, it is intended that the appended claims cover all such modifications and variations as fall within the scope and range of equivalents of the claims.

Claims

1. An arrangement (100) for holding at least one cable (201) of a robot, comprising:

a main body (101), the main body (101) extending in an axial direction and comprising a circumferential wall (1011) to isolate the at least one cable (201) arranged in the main body (101) from a first part (202) of the robot; and

a slit (1012) formed on the circumferential wall (1011) in the axial direction, the slit (1012) being adapted to allow the at least one cable (201) to pass through such that the at least one cable (201) is arranged in the main body (101).

2. The device (100) according to claim 1, wherein the slit (1012) has a spiral shape around an axis (X) of the body (101).

3. The device (100) of claim 1, wherein the slit (1012) is in the shape of a straight line or a curve extending in the axial direction on one side of an axis (X).

4. The device (100) according to claim 3, wherein the width of the slit (1012) is smaller than the diameter of the thinnest cable of the at least one cable (201), and the circumferential wall (1011) is deformable to allow the slit (1012) to expand in width direction.

5. The device (100) according to claim 3, further comprising a further slit (1014), the further slit (1014) being arranged diametrically opposite the slit (1012) to divide the circumferential wall (1011) into two half-shells, and the two half-shells being coupled to each other at the slit (1012) and the further slit (1014) to form the body (101).

6. The device (100) according to claim 1, further comprising a flange (1015), the flange (1015) being fixedly arranged at an end of the body (101) and adapted to be fixed to a second part (203) of the robot that rotates relative to the first part (202).

7. The device (100) of claim 6, wherein the flange (1015) includes a flange slit (1016), the flange slit (1016) extending across an entire radius of the flange (1015) at a location aligned with the slit (1012).

8. The device (100) according to claim 6, wherein the body (101) and the flange (1015) are integrally formed.

9. The device (100) of claim 1, further comprising a radiused transition (1017) at a corner between the flange (1015) and the circumferential wall (1011).

10. A method of manufacturing a device (100) for holding at least one cable (201) of a robot, comprising:

providing a main body (101), the main body (101) extending in an axial direction and comprising a circumferential wall (1011) to isolate the at least one cable (201) arranged in the main body (101) from a first part (202) of the robot; and

-forming a slit (1012) on the circumferential wall (1011) along the axial direction, the slit (1012) being adapted to allow the at least one cable (201) to pass through such that the at least one cable (201) is arranged in the body (101).

11. A robot comprising the apparatus of any one of claims 1 to 9.